Fig. 6

Raw data collected from the robot during one experimental session. The left column reports the desired pd and current p positions along x, y, and z and the forces exchanged at the end-effector, i.e. \(F_x\), \(F_x\), and \(F_z\). The right column displays the trajectories in the joint space and a three-dimensional representation of the assigned reaching and returning to rest position tasks